add untested mixers - HEX6H, dual/single copter, to match mixer IDs with MultiWiiConf

src/cli.c

@@ -37,7 +37,9 @@ static const char * const mixerNames[] = {
     "TRI", "QUADP", "QUADX", "BI",
     "GIMBAL", "Y6", "HEX6",
     "FLYING_WING", "Y4", "HEX6X", "OCTOX8", "OCTOFLATP", "OCTOFLATX",
-    "AIRPLANE", "HELI_120_CCPM", "HELI_90_DEG", "VTAIL4", "CUSTOM", NULL
+    "AIRPLANE", "HELI_120_CCPM", "HELI_90_DEG", "VTAIL4", 
+    "HEX6H", "PPM_TO_SERVO", "DUALCOPTER", "SINGLECOPTER",
+    "CUSTOM", NULL
 };
 
 // sync this with AvailableFeatures enum from board.h

src/mixer.c

@@ -106,6 +106,20 @@ static const motorMixer_t mixerVtail4[] = {
     { 1.0f,  1.0f, -1.0f, -0.0f },          // FRONT_L
 };
 
+static const motorMixer_t mixerHex6H[] = {
+    { 1.0f, -1.0f,  1.0f, -1.0f },     // REAR_R
+    { 1.0f, -1.0f, -1.0f,  1.0f },     // FRONT_R
+    { 1.0f,  1.0f,  1.0f,  1.0f },     // REAR_L
+    { 1.0f,  1.0f, -1.0f, -1.0f },     // FRONT_L
+    { 1.0f,  0.0f,  0.0f,  0.0f },     // RIGHT
+    { 1.0f,  0.0f,  0.0f,  0.0f },     // LEFT
+};
+
+static const motorMixer_t mixerDualcopter[] = {
+    { 1.0f,  0.0f,  0.0f, -1.0f },          // LEFT
+    { 1.0f,  0.0f,  0.0f,  1.0f },          // RIGHT
+};
+
 // Keep this synced with MultiType struct in mw.h!
 const mixer_t mixers[] = {
 //    Mo Se Mixtable
@@ -127,6 +141,10 @@ const mixer_t mixers[] = {
     { 0, 1, NULL },                // * MULTITYPE_HELI_120_CCPM
     { 0, 1, NULL },                // * MULTITYPE_HELI_90_DEG
     { 4, 0, mixerVtail4 },         // MULTITYPE_VTAIL4
+    { 6, 0, mixerHex6H },          // MULTITYPE_HEX6H
+    { 0, 1, NULL },                // * MULTITYPE_PPM_TO_SERVO
+    { 2, 1, mixerDualcopter  },    // MULTITYPE_DUALCOPTER
+    { 1, 1, NULL },                // MULTITYPE_SINGLECOPTER
     { 0, 0, NULL },                // MULTITYPE_CUSTOM
 };
 
@@ -249,6 +267,18 @@ void writeServos(void)
             pwmWriteServo(1, servo[1]);
             break;
 
+        case MULTITYPE_DUALCOPTER:
+            pwmWriteServo(0, servo[4]);
+            pwmWriteServo(1, servo[5]);
+            break;
+
+        case MULTITYPE_SINGLECOPTER:
+            pwmWriteServo(0, servo[3]);
+            pwmWriteServo(1, servo[4]);
+            pwmWriteServo(2, servo[5]);
+            pwmWriteServo(3, servo[6]);
+            break;
+
         default:
             // Two servos for SERVO_TILT, if enabled
             if (feature(FEATURE_SERVO_TILT)) {
@@ -382,6 +412,21 @@ void mixTable(void)
             servo[3] += servoMiddle(3);
             servo[4] += servoMiddle(4);
             break;
+
+        case MULTITYPE_DUALCOPTER:
+            for (i = 4; i < 6; i++ ) {
+                servo[i] = axisPID[5 - i] * servoDirection(i, 1); // mix and setup direction
+                servo[i] += servoMiddle(i);
+            }
+            break;
+
+        case MULTITYPE_SINGLECOPTER:
+            for (i = 3; i < 7; i++) {
+                servo[i] = (axisPID[YAW] * servoDirection(i, 2)) + (axisPID[(6 - i) >> 1] * servoDirection(i, 1)); // mix and setup direction
+                servo[i] += servoMiddle(i);
+            }
+            motor[0] = rcCommand[THROTTLE];
+            break;
     }
 
     // do camstab

src/mw.h

@@ -40,8 +40,12 @@ typedef enum MultiType
     MULTITYPE_HELI_120_CCPM = 15,
     MULTITYPE_HELI_90_DEG = 16,
     MULTITYPE_VTAIL4 = 17,
-    MULTITYPE_CUSTOM = 18,          // no current GUI displays this
-    MULTITYPE_LAST = 19
+    MULTITYPE_HEX6H = 18,
+    MULTITYPE_PPM_TO_SERVO = 19,    // PPM -> servo relay 
+    MULTITYPE_DUALCOPTER = 20,
+    MULTITYPE_SINGLECOPTER = 21,
+    MULTITYPE_CUSTOM = 22,          // no current GUI displays this
+    MULTITYPE_LAST = 23
 } MultiType;
 
 typedef enum GimbalFlags {